Four-wheel steering with total sliding mode control

被引：3
|
作者：
Zheng, Kaifeng [1 ]
Chen, Sizhong [1 ]
Wang, Ya [1 ]
机构：
[1] School of Mechanical Engineering, Beijing Institution of Technology
来源：
Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) | 2013年 / 43卷 / 02期
关键词：
Four-wheel steering; Simulation; Total sliding mode control;
D O I：
10.3969/j.issn.1001-0505.2013.02.020
中图分类号：
学科分类号：
摘要：
A total sliding mode controller is proposed to improve the stability for four-wheel steering vehicle with steer-by-wire technology. By controlling the steering angle of front wheel and rear wheel, the total sliding mode controller can make the real body sideslip angle and yaw rate track the ideal body sideslip angle and yaw rate. The integration of tracking error is considered in the sliding surface to ensure the tracking error to be zero. Then, a stable condition is given based on Lyapunov theory. The conventional front wheel steering, four-wheel steering with common sliding mode control and total sliding mode control are compared by simulations under different vehicle models and different conditions. The results show that the total sliding control not only ensures the tracking error to be zero, but also improves the robustness to resist the external disturbance and the change of system parameters.
引用
收藏
页码：334 / 339
页数：5
相关论文
共 12 条
  • [1] Yu F., Li D., Review on integrated vehicle dynamics control, Transactions of the Chinese Society for Agricultural Machinery, 39, 6, pp. 1-7, (2008)
  • [2] Yu L., Lin Y., Li Y., Summarization of automobile steer-by-wire system, Agricultural Equipment & Vehicle Engineering, 174, 1, pp. 32-48, (2006)
  • [3] Sato H., Hirota A., Yanagisawa H., Et al., Dynamic characteristics of whole wheel steering vehicle with yaw velocity feedback rear wheel steering, Proceedings of IMechE, pp. 147-156, (1983)
  • [4] Nagai M., Ohki M., Theoretical study on active four-wheel steering system by virtual vehicle model following control, International Journal of Vehicle Design, 10, 1, pp. 16-33, (1988)
  • [5] Li B., Yu F., Optimal model following control of four-wheel active steering vehicle, Proceedings of the 2009 IEEE International Conference on Information and Automation, pp. 881-886, (2009)
  • [6] Marino R., Scalzi S., Cinili F., Nonlinear PI front and rear steering control in four wheel steering vehicles, Vehicle System Dynamics, 45, 12, pp. 1149-1168, (2007)
  • [7] Akar M., Kalkkuhl J.C., Lateral dynamics emulation via a four-wheel steering vehicle, Vehicle System Dynamics, 46, 9, pp. 803-829, (2008)
  • [8] Toshihiro H., Osamu N., Hiromitsu K., Model-following sling mode control for active four-wheel steering vehicle, JSAE Review, 25, pp. 305-313, (2004)
  • [9] Chen J., Chen N., Yin G., Et al., Sliding-mode robust control for 4WS vehicle based on non-linear characteristic, Journal of Southeast University: Natural Science Edition, 40, 5, pp. 969-972, (2010)
  • [10] Alfi A., Farrokhi M., Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles, Vehicle System Dynamics, 47, 3, pp. 265-284, (2009)
12